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<div class="title">octree_pointcloud_voxelcentroid.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_VOXELCENTROID_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_OCTREE_VOXELCENTROID_H</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_pointcloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html">   54</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html">OctreePointCloudVoxelCentroidContainer</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_container_base.html">OctreeContainerBase</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a0eacbed8daa2c7a3480aae611b8d90d1">   58</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a0eacbed8daa2c7a3480aae611b8d90d1">OctreePointCloudVoxelCentroidContainer</a> ()</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a1bfb3786985fe99945bb58133a519d72">reset</a>();</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#ae148b22dc20c8e7648e150918713356c">   64</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#ae148b22dc20c8e7648e150918713356c">~OctreePointCloudVoxelCentroidContainer</a> ()</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html">OctreePointCloudVoxelCentroidContainer</a> *</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a43eb07cc47a50223cec3318d076725c5">   70</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a43eb07cc47a50223cec3318d076725c5">deepCopy</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html">OctreePointCloudVoxelCentroidContainer</a> (*<span class="keyword">this</span>));</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;         <span class="comment">// param[in] OctreePointCloudVoxelCentroidContainer to compare with</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a188c1337f76276ade56ef67f5ae9f631">   78</a></span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a188c1337f76276ade56ef67f5ae9f631">operator==</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_container_base.html">OctreeContainerBase</a>&amp;)<span class="keyword"> const</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keywordflow">return</span> ( <span class="keyword">false</span> );</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a303a05d67bb1df4c5c8b0da6380b1927">   87</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a303a05d67bb1df4c5c8b0da6380b1927">addPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; new_point)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          <span class="keyword">using namespace </span>pcl::common;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          ++point_counter_;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          point_sum_ += new_point;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a308840b2828cd3e839f08bef6f3acbbd">  100</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a308840b2828cd3e839f08bef6f3acbbd">getCentroid</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; centroid_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <span class="keyword">using namespace </span>pcl::common;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <span class="keywordflow">if</span> (point_counter_)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            centroid_arg = point_sum_;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            centroid_arg /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_counter_);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            centroid_arg *= 0.0f;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a1bfb3786985fe99945bb58133a519d72">  117</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a1bfb3786985fe99945bb58133a519d72">reset</a> ()</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <span class="keyword">using namespace </span>pcl::common;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          point_counter_ = 0;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          point_sum_ *= 0.0f;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_counter_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> point_sum_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    };</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>,</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;             <span class="keyword">typename</span> LeafContainerT = OctreePointCloudVoxelCentroidContainer&lt;PointT&gt; ,</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;             <span class="keyword">typename</span> BranchContainerT = OctreeContainerEmpty &gt;</div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html">  142</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html">OctreePointCloudVoxelCentroid</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;PointT, LeafContainerT, BranchContainerT&gt;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;OctreePointCloudVoxelCentroid&lt;PointT, LeafContainerT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const OctreePointCloudVoxelCentroid&lt;PointT, LeafContainerT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeT::LeafNode</a> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeT::BranchNode</a> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a3ee3a60237c8896030a254bdd7b6cb0e">  155</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a3ee3a60237c8896030a254bdd7b6cb0e">OctreePointCloudVoxelCentroid</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution_arg) :</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT&gt; (resolution_arg)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#adb1edf24489dd1480cd9e64454b33160">  162</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#adb1edf24489dd1480cd9e64454b33160">~OctreePointCloudVoxelCentroid</a> ()</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a02c5fe6f8d684f4eb5878b48740bf178">  170</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a02c5fe6f8d684f4eb5878b48740bf178">addPointIdx</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> pointIdx_arg)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          assert (pointIdx_arg &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (this-&gt;input_-&gt;points.size ()));</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = this-&gt;input_-&gt;points[pointIdx_arg];</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="comment">// make sure bounding box is big enough</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          this-&gt;adoptBoundingBoxToPoint (point);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <span class="comment">// generate key</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          this-&gt;genOctreeKeyforPoint (point, key);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          <span class="comment">// add point to octree at key</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          LeafContainerT* container = this-&gt;createLeaf(key);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          container-&gt;addPoint (point);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        getVoxelCentroidAtPoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; voxel_centroid_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a1901d3f256ebde1b881f5e66da807325">  204</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a1901d3f256ebde1b881f5e66da807325">getVoxelCentroidAtPoint</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; point_idx_arg, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; voxel_centroid_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <span class="comment">// get centroid at point</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          <span class="keywordflow">return</span> (this-&gt;getVoxelCentroidAtPoint (this-&gt;input_-&gt;points[point_idx_arg], voxel_centroid_arg));</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        getVoxelCentroids (<span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::AlignedPointTVector &amp;voxel_centroid_list_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        getVoxelCentroidsRecursive (<span class="keyword">const</span> BranchNode* branch_arg, </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                                    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg, </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                                    <span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::AlignedPointTVector &amp;voxel_centroid_list_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    };</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;}</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment">// Note: Don&#39;t precompile this octree type to speed up compilation. It&#39;s probably rarely used.</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp&gt;</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a></div><div class="ttdoc">Octree class</div><div class="ttdef"><b>Definition:</b> octree_base.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html">pcl::octree::OctreeBranchNode</a></div><div class="ttdoc">Abstract octree branch class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_container_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_container_base.html">pcl::octree::OctreeContainerBase</a></div><div class="ttdoc">Octree container class that can serve as a base to construct own leaf node container classes.</div><div class="ttdef"><b>Definition:</b> octree_container.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html">pcl::octree::OctreeLeafNode</a></div><div class="ttdoc">Abstract octree leaf class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a></div><div class="ttdoc">Octree pointcloud class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html">pcl::octree::OctreePointCloudVoxelCentroidContainer</a></div><div class="ttdoc">Octree pointcloud voxel centroid leaf node class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html_a0eacbed8daa2c7a3480aae611b8d90d1"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a0eacbed8daa2c7a3480aae611b8d90d1">pcl::octree::OctreePointCloudVoxelCentroidContainer::OctreePointCloudVoxelCentroidContainer</a></div><div class="ttdeci">OctreePointCloudVoxelCentroidContainer()</div><div class="ttdoc">Class initialization.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html_a188c1337f76276ade56ef67f5ae9f631"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a188c1337f76276ade56ef67f5ae9f631">pcl::octree::OctreePointCloudVoxelCentroidContainer::operator==</a></div><div class="ttdeci">virtual bool operator==(const OctreeContainerBase &amp;) const</div><div class="ttdoc">Equal comparison operator - set to false</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html_a1bfb3786985fe99945bb58133a519d72"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a1bfb3786985fe99945bb58133a519d72">pcl::octree::OctreePointCloudVoxelCentroidContainer::reset</a></div><div class="ttdeci">virtual void reset()</div><div class="ttdoc">Reset leaf container.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html_a303a05d67bb1df4c5c8b0da6380b1927"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a303a05d67bb1df4c5c8b0da6380b1927">pcl::octree::OctreePointCloudVoxelCentroidContainer::addPoint</a></div><div class="ttdeci">void addPoint(const PointT &amp;new_point)</div><div class="ttdoc">Add new point to voxel.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html_a308840b2828cd3e839f08bef6f3acbbd"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a308840b2828cd3e839f08bef6f3acbbd">pcl::octree::OctreePointCloudVoxelCentroidContainer::getCentroid</a></div><div class="ttdeci">void getCentroid(PointT &amp;centroid_arg) const</div><div class="ttdoc">Calculate centroid of voxel.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html_a43eb07cc47a50223cec3318d076725c5"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#a43eb07cc47a50223cec3318d076725c5">pcl::octree::OctreePointCloudVoxelCentroidContainer::deepCopy</a></div><div class="ttdeci">virtual OctreePointCloudVoxelCentroidContainer * deepCopy() const</div><div class="ttdoc">deep copy function</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container_html_ae148b22dc20c8e7648e150918713356c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_container.html#ae148b22dc20c8e7648e150918713356c">pcl::octree::OctreePointCloudVoxelCentroidContainer::~OctreePointCloudVoxelCentroidContainer</a></div><div class="ttdeci">virtual ~OctreePointCloudVoxelCentroidContainer()</div><div class="ttdoc">Empty class deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html">pcl::octree::OctreePointCloudVoxelCentroid</a></div><div class="ttdoc">Octree pointcloud voxel centroid class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:143</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html_a02c5fe6f8d684f4eb5878b48740bf178"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a02c5fe6f8d684f4eb5878b48740bf178">pcl::octree::OctreePointCloudVoxelCentroid::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int pointIdx_arg)</div><div class="ttdoc">Add DataT object to leaf node at octree key.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html_a1901d3f256ebde1b881f5e66da807325"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a1901d3f256ebde1b881f5e66da807325">pcl::octree::OctreePointCloudVoxelCentroid::getVoxelCentroidAtPoint</a></div><div class="ttdeci">bool getVoxelCentroidAtPoint(const int &amp;point_idx_arg, PointT &amp;voxel_centroid_arg) const</div><div class="ttdoc">Get centroid for a single voxel addressed by a PointT point from input cloud.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html_a3ee3a60237c8896030a254bdd7b6cb0e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a3ee3a60237c8896030a254bdd7b6cb0e">pcl::octree::OctreePointCloudVoxelCentroid::OctreePointCloudVoxelCentroid</a></div><div class="ttdeci">OctreePointCloudVoxelCentroid(const double resolution_arg)</div><div class="ttdoc">OctreePointCloudVoxelCentroids class constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html_adb1edf24489dd1480cd9e64454b33160"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#adb1edf24489dd1480cd9e64454b33160">pcl::octree::OctreePointCloudVoxelCentroid::~OctreePointCloudVoxelCentroid</a></div><div class="ttdeci">virtual ~OctreePointCloudVoxelCentroid()</div><div class="ttdoc">Empty class deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.h:162</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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